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<div class="title">Cheetah3.h</div>  </div>
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<a href="../../d6/dce/_cheetah3_8h.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;</div><div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;<span class="preprocessor">#ifndef LIBBIOMIMETICS_CHEETAH3_H</span></div><div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;<span class="preprocessor">#define LIBBIOMIMETICS_CHEETAH3_H</span></div><div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;</div><div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="../../d9/dc8/spatial_8h.html">Dynamics/spatial.h</a>&quot;</span></div><div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="../../d5/d9a/_floating_base_model_8h.html">FloatingBaseModel.h</a>&quot;</span></div><div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="../../d3/dc7/_quadruped_8h.html">Quadruped.h</a>&quot;</span></div><div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="../../d9/d8e/cpp_types_8h.html">cppTypes.h</a>&quot;</span></div><div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;</div><div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;<span class="keyword">using namespace </span><a class="code" href="../../de/d1a/namespacespatial.html">spatial</a>;</div><div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;</div><div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> T&gt;</div><div class="line"><a name="l00034"></a><span class="lineno"><a class="line" href="../../d6/dce/_cheetah3_8h.html#a85c0803aeb3db3c9f55253ca101424cf">   34</a></span>&#160;<a class="code" href="../../dc/d66/class_quadruped.html">Quadruped&lt;T&gt;</a> <a class="code" href="../../d6/dce/_cheetah3_8h.html#a85c0803aeb3db3c9f55253ca101424cf">buildCheetah3</a>() {</div><div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;  <a class="code" href="../../dc/d66/class_quadruped.html">Quadruped&lt;T&gt;</a> <a class="code" href="../../d7/dfa/namespacecheetah.html">cheetah</a>;</div><div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;  cheetah.<a class="code" href="../../dc/d66/class_quadruped.html#a3a8d2b5f9c50bf5ca8280e63b2775097">_robotType</a> = <a class="code" href="../../d9/d8e/cpp_types_8h.html#a78d284d08fd22d809fd436256f2cbc39a6dd4d4322d59b92d9eaed24a8d3ecb45">RobotType::CHEETAH_3</a>;</div><div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;</div><div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;  cheetah.<a class="code" href="../../dc/d66/class_quadruped.html#a4ec32ecabe15c9e34360f14994d99e13">_bodyMass</a> = 26.60;</div><div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;  cheetah.<a class="code" href="../../dc/d66/class_quadruped.html#a7995e099afb704e1f22b3383a22d19aa">_bodyLength</a> = .6;</div><div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;  cheetah.<a class="code" href="../../dc/d66/class_quadruped.html#a5bce20ce40e03068a0dd0a66a4ccf17e">_bodyWidth</a> = .256;</div><div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;  cheetah.<a class="code" href="../../dc/d66/class_quadruped.html#a299025bd7dff225b4b8c49de160f5462">_bodyHeight</a> = .2;</div><div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;  cheetah.<a class="code" href="../../dc/d66/class_quadruped.html#af0eab931dddfe239a732e08a0e2007e3">_abadGearRatio</a> = 7.66666666667;</div><div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;  cheetah.<a class="code" href="../../dc/d66/class_quadruped.html#ad7a3e625f34f90f2b6c11223ad6878f1">_hipGearRatio</a> = 7.66666666667;</div><div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;  cheetah.<a class="code" href="../../dc/d66/class_quadruped.html#aea326056e6c877eec1df1ef8564a1379">_kneeGearRatio</a> = 8.846;</div><div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;  cheetah.<a class="code" href="../../dc/d66/class_quadruped.html#add43dcb4994e6e31375c4515e8de397d">_abadLinkLength</a> = 0.045;</div><div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;  cheetah.<a class="code" href="../../dc/d66/class_quadruped.html#a2b1208249b4fa5e9dc3b08916fae04c7">_hipLinkLength</a> = 0.342;</div><div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;  cheetah.<a class="code" href="../../dc/d66/class_quadruped.html#ae752ca0d75b7e1ae759c1285be62d068">_kneeLinkLength</a> = 0.345;</div><div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;  cheetah.<a class="code" href="../../dc/d66/class_quadruped.html#a99a1bea4ba2a962cc53a951be52ba3b2">_maxLegLength</a> = 0.687;</div><div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;</div><div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;  cheetah.<a class="code" href="../../dc/d66/class_quadruped.html#af84ee6237093849b6e50661e96861ab6">_batteryV</a> = 65;</div><div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;  cheetah.<a class="code" href="../../dc/d66/class_quadruped.html#a19aea08a578905fc52ce2f024d261d77">_motorKT</a> = 0.266;</div><div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;  cheetah.<a class="code" href="../../dc/d66/class_quadruped.html#a005ccebaf2721238edf5ab30bdca5f64">_motorR</a> = 0.45;</div><div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;  cheetah.<a class="code" href="../../dc/d66/class_quadruped.html#af6be7b603041ee80e4d7752ffa064bbd">_jointDamping</a> = .1;</div><div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;  cheetah.<a class="code" href="../../dc/d66/class_quadruped.html#a037c40af4c63dc79aba96e6cb1427f82">_jointDryFriction</a> = 1;</div><div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;  cheetah.<a class="code" href="../../dc/d66/class_quadruped.html#a20f4b1eda8c92ed4eff51ef71d3a8c24">_motorTauMax</a> = 27.2;</div><div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;</div><div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;  <a class="code" href="../../d9/d8e/cpp_types_8h.html#ad7673cd2189f78a761c3a51d9c1314b1">MassProperties&lt;T&gt;</a> abadMassProperties, hipMassProperties, kneeMassProperties,</div><div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;      abadRotorMassProperties, hipRotorMassProperties, kneeRotorMassProperties;</div><div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;</div><div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;  abadMassProperties &lt;&lt; 1.645278752937798e+00, 3.987427689943171e-24,</div><div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;      1.050694793045323e-01, -7.248117018543008e-03, 6.871761154771191e-03,</div><div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;      2.715028710162546e-04, 6.820782113449669e-03, 4.545198314447007e-04,</div><div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;      1.000360164583147e-25, -2.201422454848303e-25;</div><div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;</div><div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;  hipMassProperties &lt;&lt; 1.071200401412615e+00, -7.564034441661159e-04,</div><div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;      -3.180527291037499e-02, -1.047496808654130e-01, 2.020976253260794e-02,</div><div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;      1.856851411013688e-02, 3.115448656660994e-03, 1.294666102054298e-04,</div><div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;      1.217274116646696e-03, -4.116533457993085e-04;</div><div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;</div><div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;  kneeMassProperties &lt;&lt; 9.019384095786234e-01, 2.215928611851693e-02,</div><div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;      3.623331361414656e-03, -4.411934868569409e-02, 2.269554734974269e-02,</div><div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;      2.714252268535285e-02, 5.566745484613744e-03, -3.238036214456428e-04,</div><div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;      -2.194717054345885e-03, 1.274627163554897e-03;</div><div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;</div><div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;  abadRotorMassProperties &lt;&lt; 4.999939189070923e-01, 1.184093324655296e-24,</div><div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;      1.976769699734076e-03, -3.681440077402916e-04, 9.908339941420835e-04,</div><div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;      4.955917167197880e-04, 4.956200895280653e-04, 3.533262919985919e-08,</div><div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;      5.751153538955154e-27, 1.342701882012297e-27;</div><div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;</div><div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;  hipRotorMassProperties &lt;&lt; 5.405045213157799e-01, -3.164547557293410e-03,</div><div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;      -6.776800604201722e-03, 7.158586831736347e-04, 4.352341568156850e-04,</div><div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;      1.015373256571613e-03, 9.126776037286181e-04, -3.097121515937353e-05,</div><div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;      -2.154046949222089e-04, 1.306997274233568e-04;</div><div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;</div><div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;  kneeRotorMassProperties &lt;&lt; 5.398676189202086e-01, -2.571556872957194e-04,</div><div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;      -7.550002224983261e-03, 1.125959428120149e-03, 7.035267590972641e-04,</div><div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;      8.693209041255046e-04, 4.122075637011218e-04, -3.986925582339967e-05,</div><div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;      -2.295396403157565e-04, 2.324567952553503e-05;</div><div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;</div><div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;  cheetah.<a class="code" href="../../dc/d66/class_quadruped.html#a950a254ac9c328d16179df350da2ad3a">_abadInertia</a> = <a class="code" href="../../d6/d81/class_spatial_inertia.html">SpatialInertia&lt;T&gt;</a>(abadMassProperties);</div><div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;  cheetah.<a class="code" href="../../dc/d66/class_quadruped.html#a3437c9695ff20d14849d05e6d4cd11c1">_hipInertia</a> = <a class="code" href="../../d6/d81/class_spatial_inertia.html">SpatialInertia&lt;T&gt;</a>(hipMassProperties);</div><div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;  cheetah.<a class="code" href="../../dc/d66/class_quadruped.html#a0539ae075690ecbc6b281bf08cb34027">_kneeInertia</a> = <a class="code" href="../../d6/d81/class_spatial_inertia.html">SpatialInertia&lt;T&gt;</a>(kneeMassProperties);</div><div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;  cheetah.<a class="code" href="../../dc/d66/class_quadruped.html#a8f8b1c68a1b5f5ce0feaefd26c599b85">_abadRotorInertia</a> = <a class="code" href="../../d6/d81/class_spatial_inertia.html">SpatialInertia&lt;T&gt;</a>(abadRotorMassProperties);</div><div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;  cheetah.<a class="code" href="../../dc/d66/class_quadruped.html#a13e1602042b4dbf584a66ac33d039ba1">_hipRotorInertia</a> = <a class="code" href="../../d6/d81/class_spatial_inertia.html">SpatialInertia&lt;T&gt;</a>(hipRotorMassProperties);</div><div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;  cheetah.<a class="code" href="../../dc/d66/class_quadruped.html#a88e20574ef5d30111c3d893147c981ee">_kneeRotorInertia</a> = <a class="code" href="../../d6/d81/class_spatial_inertia.html">SpatialInertia&lt;T&gt;</a>(kneeRotorMassProperties);</div><div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;  <a class="code" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3&lt;T&gt;</a> bodyCOM(0, 0, 0);</div><div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;  <a class="code" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3&lt;T&gt;</a> bodyDims(cheetah.<a class="code" href="../../dc/d66/class_quadruped.html#a7995e099afb704e1f22b3383a22d19aa">_bodyLength</a>, cheetah.<a class="code" href="../../dc/d66/class_quadruped.html#a5bce20ce40e03068a0dd0a66a4ccf17e">_bodyWidth</a>,</div><div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;                   cheetah.<a class="code" href="../../dc/d66/class_quadruped.html#a299025bd7dff225b4b8c49de160f5462">_bodyHeight</a>);</div><div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;  cheetah.<a class="code" href="../../dc/d66/class_quadruped.html#abf6f1fd5a7d18eee3ac046b3a4b25ca9">_bodyInertia</a> = <a class="code" href="../../d6/d81/class_spatial_inertia.html">SpatialInertia&lt;T&gt;</a>(</div><div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;      cheetah.<a class="code" href="../../dc/d66/class_quadruped.html#a4ec32ecabe15c9e34360f14994d99e13">_bodyMass</a>, bodyCOM, <a class="code" href="../../de/d1a/namespacespatial.html#aa7ac11b744e5fad0c1cbef41e3bb209f">rotInertiaOfBox</a>(cheetah.<a class="code" href="../../dc/d66/class_quadruped.html#a4ec32ecabe15c9e34360f14994d99e13">_bodyMass</a>, bodyDims));</div><div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;</div><div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;  <span class="comment">// this doesn&#39;t generalize to the mini cheetah?</span></div><div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;  cheetah.<a class="code" href="../../dc/d66/class_quadruped.html#a7b1f06b7bd86935d53e32ea8b095669f">_abadLocation</a> =</div><div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;      <a class="code" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3&lt;T&gt;</a>(cheetah.<a class="code" href="../../dc/d66/class_quadruped.html#a7995e099afb704e1f22b3383a22d19aa">_bodyLength</a>, cheetah.<a class="code" href="../../dc/d66/class_quadruped.html#a5bce20ce40e03068a0dd0a66a4ccf17e">_bodyWidth</a>, 0) * 0.5;</div><div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;</div><div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;  <span class="comment">// note that this is wrong to match a small bug in the actual simulator, just</span></div><div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;  <span class="comment">// to test that I get the right answer. TODO fix!</span></div><div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;  cheetah.<a class="code" href="../../dc/d66/class_quadruped.html#abd6220626c711be53369e0126dc8fc2f">_abadRotorLocation</a> = <a class="code" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3&lt;T&gt;</a>(0, -cheetah.<a class="code" href="../../dc/d66/class_quadruped.html#a5bce20ce40e03068a0dd0a66a4ccf17e">_bodyWidth</a> / 2., 0);</div><div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;</div><div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;  cheetah.<a class="code" href="../../dc/d66/class_quadruped.html#a044b85f13a9760daeab0b621058dc480">_hipLocation</a> = <a class="code" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3&lt;T&gt;</a>(0, cheetah.<a class="code" href="../../dc/d66/class_quadruped.html#add43dcb4994e6e31375c4515e8de397d">_abadLinkLength</a>, 0);</div><div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;  cheetah.<a class="code" href="../../dc/d66/class_quadruped.html#a46ef06f23e658471e013c2b769376ff2">_hipRotorLocation</a> = <a class="code" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3&lt;T&gt;</a>(0, cheetah.<a class="code" href="../../dc/d66/class_quadruped.html#add43dcb4994e6e31375c4515e8de397d">_abadLinkLength</a>, 0);</div><div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;  cheetah.<a class="code" href="../../dc/d66/class_quadruped.html#ab4fd6842d2426e6c1d0658197ced7d18">_kneeLocation</a> = <a class="code" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3&lt;T&gt;</a>(0, 0, -cheetah.<a class="code" href="../../dc/d66/class_quadruped.html#a2b1208249b4fa5e9dc3b08916fae04c7">_hipLinkLength</a>);</div><div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;  cheetah.<a class="code" href="../../dc/d66/class_quadruped.html#aee1c0e15f1c1e19ad0c07762f2969485">_kneeRotorLocation</a> = <a class="code" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3&lt;T&gt;</a>(0, 0, 0);</div><div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;  <span class="keywordflow">return</span> cheetah;</div><div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;}</div><div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;</div><div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;<span class="preprocessor">#endif  // LIBBIOMIMETICS_CHEETAH3_H</span></div><div class="ttc" id="namespacecheetah_html"><div class="ttname"><a href="../../d7/dfa/namespacecheetah.html">cheetah</a></div><div class="ttdef"><b>Definition:</b> <a href="../../d3/dc7/_quadruped_8h_source.html#l00021">Quadruped.h:21</a></div></div>
<div class="ttc" id="class_quadruped_html_a4ec32ecabe15c9e34360f14994d99e13"><div class="ttname"><a href="../../dc/d66/class_quadruped.html#a4ec32ecabe15c9e34360f14994d99e13">Quadruped::_bodyMass</a></div><div class="ttdeci">T _bodyMass</div><div class="ttdef"><b>Definition:</b> <a href="../../d3/dc7/_quadruped_8h_source.html#l00060">Quadruped.h:60</a></div></div>
<div class="ttc" id="class_quadruped_html_af84ee6237093849b6e50661e96861ab6"><div class="ttname"><a href="../../dc/d66/class_quadruped.html#af84ee6237093849b6e50661e96861ab6">Quadruped::_batteryV</a></div><div class="ttdeci">T _batteryV</div><div class="ttdef"><b>Definition:</b> <a href="../../d3/dc7/_quadruped_8h_source.html#l00063">Quadruped.h:63</a></div></div>
<div class="ttc" id="class_quadruped_html"><div class="ttname"><a href="../../dc/d66/class_quadruped.html">Quadruped</a></div><div class="ttdef"><b>Definition:</b> <a href="../../d3/dc7/_quadruped_8h_source.html#l00056">Quadruped.h:56</a></div></div>
<div class="ttc" id="class_quadruped_html_a2b1208249b4fa5e9dc3b08916fae04c7"><div class="ttname"><a href="../../dc/d66/class_quadruped.html#a2b1208249b4fa5e9dc3b08916fae04c7">Quadruped::_hipLinkLength</a></div><div class="ttdeci">T _hipLinkLength</div><div class="ttdef"><b>Definition:</b> <a href="../../d3/dc7/_quadruped_8h_source.html#l00062">Quadruped.h:62</a></div></div>
<div class="ttc" id="class_quadruped_html_af0eab931dddfe239a732e08a0e2007e3"><div class="ttname"><a href="../../dc/d66/class_quadruped.html#af0eab931dddfe239a732e08a0e2007e3">Quadruped::_abadGearRatio</a></div><div class="ttdeci">T _abadGearRatio</div><div class="ttdef"><b>Definition:</b> <a href="../../d3/dc7/_quadruped_8h_source.html#l00061">Quadruped.h:61</a></div></div>
<div class="ttc" id="_quadruped_8h_html"><div class="ttname"><a href="../../d3/dc7/_quadruped_8h.html">Quadruped.h</a></div><div class="ttdoc">Data structure containing parameters for quadruped robot. </div></div>
<div class="ttc" id="class_quadruped_html_a8f8b1c68a1b5f5ce0feaefd26c599b85"><div class="ttname"><a href="../../dc/d66/class_quadruped.html#a8f8b1c68a1b5f5ce0feaefd26c599b85">Quadruped::_abadRotorInertia</a></div><div class="ttdeci">SpatialInertia&lt; T &gt; _abadRotorInertia</div><div class="ttdef"><b>Definition:</b> <a href="../../d3/dc7/_quadruped_8h_source.html#l00066">Quadruped.h:66</a></div></div>
<div class="ttc" id="cpp_types_8h_html_a6f07728c866b15ff0676a9b2ebfd2ba6"><div class="ttname"><a href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3</a></div><div class="ttdeci">typename Eigen::Matrix&lt; T, 3, 1 &gt; Vec3</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d8e/cpp_types_8h_source.html#l00026">cppTypes.h:26</a></div></div>
<div class="ttc" id="cpp_types_8h_html"><div class="ttname"><a href="../../d9/d8e/cpp_types_8h.html">cppTypes.h</a></div></div>
<div class="ttc" id="class_quadruped_html_a7995e099afb704e1f22b3383a22d19aa"><div class="ttname"><a href="../../dc/d66/class_quadruped.html#a7995e099afb704e1f22b3383a22d19aa">Quadruped::_bodyLength</a></div><div class="ttdeci">T _bodyLength</div><div class="ttdef"><b>Definition:</b> <a href="../../d3/dc7/_quadruped_8h_source.html#l00060">Quadruped.h:60</a></div></div>
<div class="ttc" id="class_quadruped_html_ae752ca0d75b7e1ae759c1285be62d068"><div class="ttname"><a href="../../dc/d66/class_quadruped.html#ae752ca0d75b7e1ae759c1285be62d068">Quadruped::_kneeLinkLength</a></div><div class="ttdeci">T _kneeLinkLength</div><div class="ttdef"><b>Definition:</b> <a href="../../d3/dc7/_quadruped_8h_source.html#l00062">Quadruped.h:62</a></div></div>
<div class="ttc" id="class_quadruped_html_a19aea08a578905fc52ce2f024d261d77"><div class="ttname"><a href="../../dc/d66/class_quadruped.html#a19aea08a578905fc52ce2f024d261d77">Quadruped::_motorKT</a></div><div class="ttdeci">T _motorKT</div><div class="ttdef"><b>Definition:</b> <a href="../../d3/dc7/_quadruped_8h_source.html#l00063">Quadruped.h:63</a></div></div>
<div class="ttc" id="class_quadruped_html_a46ef06f23e658471e013c2b769376ff2"><div class="ttname"><a href="../../dc/d66/class_quadruped.html#a46ef06f23e658471e013c2b769376ff2">Quadruped::_hipRotorLocation</a></div><div class="ttdeci">Vec3&lt; T &gt; _hipRotorLocation</div><div class="ttdef"><b>Definition:</b> <a href="../../d3/dc7/_quadruped_8h_source.html#l00068">Quadruped.h:68</a></div></div>
<div class="ttc" id="class_quadruped_html_abd6220626c711be53369e0126dc8fc2f"><div class="ttname"><a href="../../dc/d66/class_quadruped.html#abd6220626c711be53369e0126dc8fc2f">Quadruped::_abadRotorLocation</a></div><div class="ttdeci">Vec3&lt; T &gt; _abadRotorLocation</div><div class="ttdef"><b>Definition:</b> <a href="../../d3/dc7/_quadruped_8h_source.html#l00068">Quadruped.h:68</a></div></div>
<div class="ttc" id="class_quadruped_html_a0539ae075690ecbc6b281bf08cb34027"><div class="ttname"><a href="../../dc/d66/class_quadruped.html#a0539ae075690ecbc6b281bf08cb34027">Quadruped::_kneeInertia</a></div><div class="ttdeci">SpatialInertia&lt; T &gt; _kneeInertia</div><div class="ttdef"><b>Definition:</b> <a href="../../d3/dc7/_quadruped_8h_source.html#l00066">Quadruped.h:66</a></div></div>
<div class="ttc" id="class_quadruped_html_a005ccebaf2721238edf5ab30bdca5f64"><div class="ttname"><a href="../../dc/d66/class_quadruped.html#a005ccebaf2721238edf5ab30bdca5f64">Quadruped::_motorR</a></div><div class="ttdeci">T _motorR</div><div class="ttdef"><b>Definition:</b> <a href="../../d3/dc7/_quadruped_8h_source.html#l00063">Quadruped.h:63</a></div></div>
<div class="ttc" id="class_quadruped_html_af6be7b603041ee80e4d7752ffa064bbd"><div class="ttname"><a href="../../dc/d66/class_quadruped.html#af6be7b603041ee80e4d7752ffa064bbd">Quadruped::_jointDamping</a></div><div class="ttdeci">T _jointDamping</div><div class="ttdef"><b>Definition:</b> <a href="../../d3/dc7/_quadruped_8h_source.html#l00065">Quadruped.h:65</a></div></div>
<div class="ttc" id="class_quadruped_html_a044b85f13a9760daeab0b621058dc480"><div class="ttname"><a href="../../dc/d66/class_quadruped.html#a044b85f13a9760daeab0b621058dc480">Quadruped::_hipLocation</a></div><div class="ttdeci">Vec3&lt; T &gt; _hipLocation</div><div class="ttdef"><b>Definition:</b> <a href="../../d3/dc7/_quadruped_8h_source.html#l00068">Quadruped.h:68</a></div></div>
<div class="ttc" id="class_quadruped_html_ad7a3e625f34f90f2b6c11223ad6878f1"><div class="ttname"><a href="../../dc/d66/class_quadruped.html#ad7a3e625f34f90f2b6c11223ad6878f1">Quadruped::_hipGearRatio</a></div><div class="ttdeci">T _hipGearRatio</div><div class="ttdef"><b>Definition:</b> <a href="../../d3/dc7/_quadruped_8h_source.html#l00061">Quadruped.h:61</a></div></div>
<div class="ttc" id="_cheetah3_8h_html_a85c0803aeb3db3c9f55253ca101424cf"><div class="ttname"><a href="../../d6/dce/_cheetah3_8h.html#a85c0803aeb3db3c9f55253ca101424cf">buildCheetah3</a></div><div class="ttdeci">Quadruped&lt; T &gt; buildCheetah3()</div><div class="ttdef"><b>Definition:</b> <a href="../../d6/dce/_cheetah3_8h_source.html#l00034">Cheetah3.h:34</a></div></div>
<div class="ttc" id="class_spatial_inertia_html"><div class="ttname"><a href="../../d6/d81/class_spatial_inertia.html">SpatialInertia</a></div><div class="ttdef"><b>Definition:</b> <a href="../../d4/d7d/_spatial_inertia_8h_source.html#l00025">SpatialInertia.h:25</a></div></div>
<div class="ttc" id="class_quadruped_html_aea326056e6c877eec1df1ef8564a1379"><div class="ttname"><a href="../../dc/d66/class_quadruped.html#aea326056e6c877eec1df1ef8564a1379">Quadruped::_kneeGearRatio</a></div><div class="ttdeci">T _kneeGearRatio</div><div class="ttdef"><b>Definition:</b> <a href="../../d3/dc7/_quadruped_8h_source.html#l00061">Quadruped.h:61</a></div></div>
<div class="ttc" id="class_quadruped_html_a13e1602042b4dbf584a66ac33d039ba1"><div class="ttname"><a href="../../dc/d66/class_quadruped.html#a13e1602042b4dbf584a66ac33d039ba1">Quadruped::_hipRotorInertia</a></div><div class="ttdeci">SpatialInertia&lt; T &gt; _hipRotorInertia</div><div class="ttdef"><b>Definition:</b> <a href="../../d3/dc7/_quadruped_8h_source.html#l00066">Quadruped.h:66</a></div></div>
<div class="ttc" id="cpp_types_8h_html_a78d284d08fd22d809fd436256f2cbc39a6dd4d4322d59b92d9eaed24a8d3ecb45"><div class="ttname"><a href="../../d9/d8e/cpp_types_8h.html#a78d284d08fd22d809fd436256f2cbc39a6dd4d4322d59b92d9eaed24a8d3ecb45">RobotType::CHEETAH_3</a></div></div>
<div class="ttc" id="class_quadruped_html_a5bce20ce40e03068a0dd0a66a4ccf17e"><div class="ttname"><a href="../../dc/d66/class_quadruped.html#a5bce20ce40e03068a0dd0a66a4ccf17e">Quadruped::_bodyWidth</a></div><div class="ttdeci">T _bodyWidth</div><div class="ttdef"><b>Definition:</b> <a href="../../d3/dc7/_quadruped_8h_source.html#l00060">Quadruped.h:60</a></div></div>
<div class="ttc" id="class_quadruped_html_add43dcb4994e6e31375c4515e8de397d"><div class="ttname"><a href="../../dc/d66/class_quadruped.html#add43dcb4994e6e31375c4515e8de397d">Quadruped::_abadLinkLength</a></div><div class="ttdeci">T _abadLinkLength</div><div class="ttdef"><b>Definition:</b> <a href="../../d3/dc7/_quadruped_8h_source.html#l00062">Quadruped.h:62</a></div></div>
<div class="ttc" id="class_quadruped_html_a3a8d2b5f9c50bf5ca8280e63b2775097"><div class="ttname"><a href="../../dc/d66/class_quadruped.html#a3a8d2b5f9c50bf5ca8280e63b2775097">Quadruped::_robotType</a></div><div class="ttdeci">EIGEN_MAKE_ALIGNED_OPERATOR_NEW RobotType _robotType</div><div class="ttdef"><b>Definition:</b> <a href="../../d3/dc7/_quadruped_8h_source.html#l00059">Quadruped.h:59</a></div></div>
<div class="ttc" id="namespacespatial_html"><div class="ttname"><a href="../../de/d1a/namespacespatial.html">spatial</a></div><div class="ttdef"><b>Definition:</b> <a href="../../d9/dc8/spatial_8h_source.html#l00019">spatial.h:19</a></div></div>
<div class="ttc" id="class_quadruped_html_a950a254ac9c328d16179df350da2ad3a"><div class="ttname"><a href="../../dc/d66/class_quadruped.html#a950a254ac9c328d16179df350da2ad3a">Quadruped::_abadInertia</a></div><div class="ttdeci">SpatialInertia&lt; T &gt; _abadInertia</div><div class="ttdef"><b>Definition:</b> <a href="../../d3/dc7/_quadruped_8h_source.html#l00066">Quadruped.h:66</a></div></div>
<div class="ttc" id="class_quadruped_html_aee1c0e15f1c1e19ad0c07762f2969485"><div class="ttname"><a href="../../dc/d66/class_quadruped.html#aee1c0e15f1c1e19ad0c07762f2969485">Quadruped::_kneeRotorLocation</a></div><div class="ttdeci">Vec3&lt; T &gt; _kneeRotorLocation</div><div class="ttdef"><b>Definition:</b> <a href="../../d3/dc7/_quadruped_8h_source.html#l00068">Quadruped.h:68</a></div></div>
<div class="ttc" id="class_quadruped_html_a299025bd7dff225b4b8c49de160f5462"><div class="ttname"><a href="../../dc/d66/class_quadruped.html#a299025bd7dff225b4b8c49de160f5462">Quadruped::_bodyHeight</a></div><div class="ttdeci">T _bodyHeight</div><div class="ttdef"><b>Definition:</b> <a href="../../d3/dc7/_quadruped_8h_source.html#l00060">Quadruped.h:60</a></div></div>
<div class="ttc" id="class_quadruped_html_abf6f1fd5a7d18eee3ac046b3a4b25ca9"><div class="ttname"><a href="../../dc/d66/class_quadruped.html#abf6f1fd5a7d18eee3ac046b3a4b25ca9">Quadruped::_bodyInertia</a></div><div class="ttdeci">SpatialInertia&lt; T &gt; _bodyInertia</div><div class="ttdef"><b>Definition:</b> <a href="../../d3/dc7/_quadruped_8h_source.html#l00066">Quadruped.h:66</a></div></div>
<div class="ttc" id="class_quadruped_html_a3437c9695ff20d14849d05e6d4cd11c1"><div class="ttname"><a href="../../dc/d66/class_quadruped.html#a3437c9695ff20d14849d05e6d4cd11c1">Quadruped::_hipInertia</a></div><div class="ttdeci">SpatialInertia&lt; T &gt; _hipInertia</div><div class="ttdef"><b>Definition:</b> <a href="../../d3/dc7/_quadruped_8h_source.html#l00066">Quadruped.h:66</a></div></div>
<div class="ttc" id="class_quadruped_html_a99a1bea4ba2a962cc53a951be52ba3b2"><div class="ttname"><a href="../../dc/d66/class_quadruped.html#a99a1bea4ba2a962cc53a951be52ba3b2">Quadruped::_maxLegLength</a></div><div class="ttdeci">T _maxLegLength</div><div class="ttdef"><b>Definition:</b> <a href="../../d3/dc7/_quadruped_8h_source.html#l00062">Quadruped.h:62</a></div></div>
<div class="ttc" id="class_quadruped_html_a037c40af4c63dc79aba96e6cb1427f82"><div class="ttname"><a href="../../dc/d66/class_quadruped.html#a037c40af4c63dc79aba96e6cb1427f82">Quadruped::_jointDryFriction</a></div><div class="ttdeci">T _jointDryFriction</div><div class="ttdef"><b>Definition:</b> <a href="../../d3/dc7/_quadruped_8h_source.html#l00065">Quadruped.h:65</a></div></div>
<div class="ttc" id="cpp_types_8h_html_ad7673cd2189f78a761c3a51d9c1314b1"><div class="ttname"><a href="../../d9/d8e/cpp_types_8h.html#ad7673cd2189f78a761c3a51d9c1314b1">MassProperties</a></div><div class="ttdeci">typename Eigen::Matrix&lt; T, 10, 1 &gt; MassProperties</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d8e/cpp_types_8h_source.html#l00098">cppTypes.h:98</a></div></div>
<div class="ttc" id="namespacespatial_html_aa7ac11b744e5fad0c1cbef41e3bb209f"><div class="ttname"><a href="../../de/d1a/namespacespatial.html#aa7ac11b744e5fad0c1cbef41e3bb209f">spatial::rotInertiaOfBox</a></div><div class="ttdeci">Mat3&lt; typename T::Scalar &gt; rotInertiaOfBox(typename T::Scalar mass, const Eigen::MatrixBase&lt; T &gt; &amp;dims)</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/dc8/spatial_8h_source.html#l00245">spatial.h:245</a></div></div>
<div class="ttc" id="class_quadruped_html_a88e20574ef5d30111c3d893147c981ee"><div class="ttname"><a href="../../dc/d66/class_quadruped.html#a88e20574ef5d30111c3d893147c981ee">Quadruped::_kneeRotorInertia</a></div><div class="ttdeci">SpatialInertia&lt; T &gt; _kneeRotorInertia</div><div class="ttdef"><b>Definition:</b> <a href="../../d3/dc7/_quadruped_8h_source.html#l00066">Quadruped.h:66</a></div></div>
<div class="ttc" id="_floating_base_model_8h_html"><div class="ttname"><a href="../../d5/d9a/_floating_base_model_8h.html">FloatingBaseModel.h</a></div><div class="ttdoc">Implementation of Rigid Body Floating Base model data structure. </div></div>
<div class="ttc" id="class_quadruped_html_a7b1f06b7bd86935d53e32ea8b095669f"><div class="ttname"><a href="../../dc/d66/class_quadruped.html#a7b1f06b7bd86935d53e32ea8b095669f">Quadruped::_abadLocation</a></div><div class="ttdeci">Vec3&lt; T &gt; _abadLocation</div><div class="ttdef"><b>Definition:</b> <a href="../../d3/dc7/_quadruped_8h_source.html#l00068">Quadruped.h:68</a></div></div>
<div class="ttc" id="spatial_8h_html"><div class="ttname"><a href="../../d9/dc8/spatial_8h.html">spatial.h</a></div><div class="ttdoc">Utility functions for manipulating spatial quantities. </div></div>
<div class="ttc" id="class_quadruped_html_a20f4b1eda8c92ed4eff51ef71d3a8c24"><div class="ttname"><a href="../../dc/d66/class_quadruped.html#a20f4b1eda8c92ed4eff51ef71d3a8c24">Quadruped::_motorTauMax</a></div><div class="ttdeci">T _motorTauMax</div><div class="ttdef"><b>Definition:</b> <a href="../../d3/dc7/_quadruped_8h_source.html#l00064">Quadruped.h:64</a></div></div>
<div class="ttc" id="class_quadruped_html_ab4fd6842d2426e6c1d0658197ced7d18"><div class="ttname"><a href="../../dc/d66/class_quadruped.html#ab4fd6842d2426e6c1d0658197ced7d18">Quadruped::_kneeLocation</a></div><div class="ttdeci">Vec3&lt; T &gt; _kneeLocation</div><div class="ttdef"><b>Definition:</b> <a href="../../d3/dc7/_quadruped_8h_source.html#l00068">Quadruped.h:68</a></div></div>
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